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Multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing

A multi-system, self-adaptive technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, measurement devices, etc., can solve problems such as inaccurate function models and random models, and poor satellite spatial structure positioning results.

Active Publication Date: 2015-06-17
SOUTHEAST UNIV
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Problems solved by technology

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a multi-system dynamic PPP calculation method based on robust adaptive Kalman filtering, which can effectively solve the problem of inaccurate function models and stochastic models in current dynamic positioning. , and the phenomenon that the unstable satellite space structure leads to poor positioning results

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  • Multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing
  • Multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing
  • Multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing

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[0068] The present invention will be further described below in conjunction with the accompanying drawings.

[0069] A multi-system dynamic PPP solution method based on robust adaptive Kalman filtering, such as figure 1 As shown: First, use the broadcast ephemeris of the three systems to calculate the respective satellite coordinates and satellite clock errors, and unify the time-space reference; combined with the ionosphere-free pseudo-range observations obtained by combining the pseudo-range observations in the observation files, carry out weight selection iteration Pseudo-range single-point positioning, reverse calculation of the approximate coordinates of the epoch receiver and the clock error of each system receiver; obtain the satellite precise ephemeris and precise clock error products of each system from the website of the analysis center such as IGS, and calculate through the Lagrangian interpolation method Satellite precise coordinates and satellite precise clock err...

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Abstract

The invention discloses a multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing. The method includes the steps that receiving machine outline coordinates and receiving machine clock bias of all systems are solved through selecting-weight-iteration pseudo-range single-point positioning, and accordingly all positioning error correction values are calculated according to an error correction model in combination with the satellite precise ephemeris and satellite precise clock bias; strict data quality control is conducted on observation data. Due to the fact that dynamic PPP accuracy is easily affected by undetected small cycle slips or the gross error and the like, an observation equation weight matrix is adjusted according to the observation value residual vectors, and the undetected small cycle slips or the gross error and other influence factors are removed; self-adaption factors are determined according to the state predictive information, and thus the influence on parameter estimation of the predictive information is controlled. By means of the method, when multi-system dynamic PPP is conducted through a single receiving machine, the feature that the number of multi-system satellites is increased greatly, on the basis that the stability of the satellite structure is guaranteed, the influence of the gross error is weaken effectively, the dynamic noise abnormity in dynamic positioning is improved, and finally the high-precision and high-stability multi-system dynamic PPP result is achieved.

Description

technical field [0001] The invention relates to a multi-system dynamic PPP calculation method, which belongs to the field of GNSS dynamic precision single point positioning. Background technique [0002] Satellite positioning technology has become the most important navigation and positioning method in modern times, and it plays an important role in engineering survey, production and life, and military applications. The basic principle of satellite positioning is to measure the distance between the known satellite and the user receiver, and then use the method of distance resection according to the instantaneous position of multiple satellites to determine the position coordinates of the point to be measured. According to the positioning method of satellite receiver equipment, GNSS positioning technology can be divided into single point positioning and differential positioning. The traditional satellite single-point positioning technology refers to the use of pseudo-range c...

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Application Information

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IPC IPC(8): G01S19/44
CPCG01S19/44
Inventor 潘树国靳晓东高成发何帆吴向阳
Owner SOUTHEAST UNIV
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